This paper describes the concept of a new algorithm to control an Unmanned Aerial System (UAS) for accurate autonomous indoor flight. Inside a greenhouse, Global Positioning System (GPS) signals are not reliable and not accurate enough. As an alternative, Ultra Wide Band (UWB) is used for localization. The noise is compensated by combining the UWB with the delta position signal from a novel optical flow algorithm through a Kalman Filter (KF). The end result is an accurate and stable position signal with low noise and low drift
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This paper describes the concept of a new algorithm to control an Unmanned Aerial System (UAS) for accurate autonomous indoor flight. Inside a greenhouse, Global Positioning System (GPS) signals are not reliable and not accurate enough. As an alternative, Ultra Wide Band (UWB) is used for localization. The noise is compensated by combining the UWB with the delta position signal from a novel optical flow algorithm through a Kalman Filter (KF). The end result is an accurate and stable position signal with low noise and low drift.
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Several studies have suggested that precision livestock farming (PLF) is a useful tool foranimal welfare management and assessment. Location, posture and movement of an individual are key elements in identifying the animal and recording its behaviour. Currently, multiple technologies are available for automated monitoring of the location of individual animals, ranging from Global Navigation Satellite Systems (GNSS) to ultra-wideband (UWB), RFID, wireless sensor networks (WSN) and even computer vision. These techniques and developments all yield potential to manage and assess animal welfare, but also have their constraints, such as range and accuracy. Combining sensors such as accelerometers with any location determining technique into a sensor fusion systemcan give more detailed information on the individual cow, achieving an even more reliable and accurate indication of animal welfare. We conclude that location systems are a promising approach to determining animal welfare, especially when applied in conjunction with additional sensors, but additional research focused on the use of technology in animal welfare monitoring is needed.
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To better control the growing process of horticulture plants greenhouse growers need an automated way to efficiently and effectively find where diseases are spreading.The HiPerGreen project has done research in using an autonomous quadcopter for this scouting. In order for the quadcopter to be able to scout autonomously accurate location data is needed. Several different methods of obtaining location data have been investigated in prior research. In this research a relative sensor based on optical flow is looked into as a method of stabilizing an absolute measurement based on trilateration. For the optical flow sensor a novel block matching algorithm was developed. Simulated testing showed that Kalman Filter based sensor fusion of both measurements worked to reduce the standard deviation of the absolute measurement from 30 cm to less than 1 cm, while drift due to dead-reckoning was reduced to a maximum of 11 cm from over 36 cm.
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In November 2019, the High Performance Greenhouse project (HiPerGreen) was nominated for the RAAK Award 2019, as one of the best applied research projects in the Netherlands. This paper discusses the challenges faced, lessons learned and critical factors in making the project into a success.
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Animal welfare is a multidimensional phenomenon and currently its on-farm assessment requires complex, multidimensional frameworks involving farm audits which are time-consuming, infrequent and expensive. The core principle of precision agriculture is to use sensor technologies to improve the efficiency of resource use by targeting resources to where they give a benefit. Precision livestock farming (PLF) enables farm animal management to move away from the group level to monitoring and managing individual animals. A range of precision livestock monitoring and control technologies have been developed, primarily to improve livestock production efficiency. Examples include using camera systems monitoring the movement of housed broiler chickens to detect problems with feeding systems or disease and leg-mounted accelerometers enabling the detection of the early stages of lameness in dairy cows. These systems are already improving farm animal welfare by, for example, improving the detection of health issues enabling more rapid treatment, or the detection of problems with feeding systems helping to reduce the risk of hunger. Environmental monitoring and control in buildings can improve animal comfort, and automatic milking systems facilitate animal choice and improve human-animal interactions. Although these precision livestock technologies monitor some parameters relevant to farm animal welfare (e.g. feeding, health), none of the systems yet provide the broad, multidimensional integration that is required to give a complete assessment of an animal’s welfare. However, data from PLF sensors could potentially be integrated into automated animal welfare assessment systems, although further research is needed to define and validate this approach.
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This study evaluates the maximum theoretical exposure to radiofrequency (RF) electromag- netic fields (EMFs) from a Fifth-generation (5G) New Radio (NR) base station (BS) while using four commonly used mobile applications: YouTube for video streaming, WhatsApp for voice calls, Instagram for posting pictures and videos, and running a Video game. Three factors that might affect exposure, i.e., distance of the measurement positions from the BS, measurement time, and induced traffic, were examined. Exposure was assessed through both instantaneous and time-averaged extrapolated field strengths using the Maximum Power Extrapolation (MPE) method. The former was calculated for every measured SS-RSRP (Secondary Synchronization Reference Signal Received Power) power sample obtained with a sampling resolution of 1 second, whereas the latter was obtained using a 1-min moving average applied on the applications’ instantaneous extrapolated field strengths datasets. Regarding distance, two measurement positions (MPs) were selected: MP1 at 56 meters and MP2 at 170 meters. Next, considering the measurement time, all mobile application tests were initially set to run for 30 minutes at both MPs, whereas the video streaming test (YouTube) was run for an additional 150 minutes to investigate the temporal evolution of field strengths. Considering the traffic, throughput data vs. both instantaneous and time-averaged extrapolated field strengths were observed for all four mobile applications. In addition, at MP1, a 30-minute test without a User Equipment (UE) device was conducted to analyze exposure levels in the absence of induced traffic. The findings indicated that the estimated field strengths for mobile applications varied. It was observed that distance and time had a more significant impact than the volume of data traffic generated (throughput). Notably, the exposure levels in all tests were considerably lower than the public exposure thresholds set by the ICNIRP guidelines.INDEX TERMS 5G NR, C-band, human exposure assessment, mobile applications, traffic data, maximum extrapolation method, RF-EMF.
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Dit essay geeft een systeemvisie op het ontwikkelen van embedded software voor slimme systemen: (mobiele) robots en sensornetwerken.
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